Mechatronic design of a fast and long range 4 degrees of freedom humanoid neck

Dannis Michel Brouwer, J. Bennik, J. Leideman, Herman Soemers, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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Abstract

This paper describes the mechatronic design of a humanoid neck. To research human machine interaction, the head and neck combination should be able to approach the human behavior as much as possible. We present a novel humanoid neck concept that is both fast, and has a long range of motion in 4 degrees of freedom (DOFs). This enables the head to track fast objects, and the neck design is suitable for mimicking expressions. The humanoid neck features a differential drive design for the lower 2 DOFs resulting in a low moving mass and the ability to use strong actuators. The performance of the neck has been optimized by minimizing backlash in the mechanisms, and by using gravity compensation. Two cameras in the head are used for scanning and interaction with the environment.
Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages574-579
ISBN (Print)978-1-4244-2789-5
DOIs
Publication statusPublished - 12 May 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA 2009 - Kobe, Japan
Duration: 12 May 200917 May 2009

Conference

Conference2009 IEEE International Conference on Robotics and Automation, ICRA 2009
Abbreviated titleICRA
CountryJapan
CityKobe
Period12/05/0917/05/09

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Keywords

  • METIS-257958
  • IR-89568

Cite this

Brouwer, D. M., Bennik, J., Leideman, J., Soemers, H., & Stramigioli, S. (2009). Mechatronic design of a fast and long range 4 degrees of freedom humanoid neck. In 2009 IEEE International Conference on Robotics and Automation (pp. 574-579). IEEE. https://doi.org/10.1109/ROBOT.2009.5152585